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<div class="title">pca.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_PCA_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_PCA_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html">   60</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_p_c_a.html">PCA</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a> &lt;PointT&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase &lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_p_c_l_base.html">Base</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Base::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Base::PointCloudPtr PointCloudPtr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Base::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Base::PointIndicesPtr PointIndicesPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Base::PointIndicesConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">Base::input_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">Base::indices_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">Base::initCompute</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">Base::setInputCloud</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66c">   76</a></span>&#160;      <span class="keyword">enum</span> <a class="code" href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66c">FLAG</a> </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      {</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66ca8cd62ecad342aa4f3b6c52e8cf008bed">   79</a></span>&#160;        <a class="code" href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66ca8cd62ecad342aa4f3b6c52e8cf008bed">increase</a>, </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <a class="code" href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66ca1e6a3535f703ae9d2b1e689c290acd38">preserve</a></div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66ca1e6a3535f703ae9d2b1e689c290acd38">   82</a></span>&#160;      };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#ab56671f77a7391de05435bb7a39c9458">   87</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#ab56671f77a7391de05435bb7a39c9458">PCA</a> (<span class="keywordtype">bool</span> basis_only = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        : <a class="code" href="classpcl_1_1_p_c_l_base.html">Base</a> ()</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        , compute_done_ (false)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        , basis_only_ (basis_only) </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        , eigenvectors_ ()</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        , coefficients_ ()</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        , mean_ ()</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        , eigenvalues_  ()</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      {}</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      PCL_DEPRECATED (<span class="stringliteral">&quot;Use PCA (bool basis_only); setInputCloud (X.makeShared ()); instead&quot;</span>)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html">PCA</a> (const pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;&amp; X, <span class="keywordtype">bool</span> basis_only = false);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html">PCA</a> (<a class="code" href="classpcl_1_1_p_c_a.html">PCA</a> const &amp; pca) </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        : Base (pca)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        , compute_done_ (pca.compute_done_)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        , basis_only_ (pca.basis_only_) </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        , eigenvectors_ (pca.eigenvectors_)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        , coefficients_ (pca.coefficients_)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        , mean_ (pca.mean_)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        , eigenvalues_  (pca.eigenvalues_)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {}</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_p_c_a.html#ab56671f77a7391de05435bb7a39c9458">PCA</a>&amp; </div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a2f56db5cbe6cc785fbad9ddff3703312">  121</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#a2f56db5cbe6cc785fbad9ddff3703312">operator= </a>(<a class="code" href="classpcl_1_1_p_c_a.html">PCA</a> <span class="keyword">const</span> &amp; pca) </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        eigenvectors_ = pca.eigenvectors_;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        coefficients_ = pca.coefficients_;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        eigenvalues_  = pca.eigenvalues_;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        mean_         = pca.mean_;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#aca4254c3969ff8cd2213d90cf30e95b3">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#aca4254c3969ff8cd2213d90cf30e95b3">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud) </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      { </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">Base::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        compute_done_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a6e82eaa51d7a49ce5f2ac7bed8b1be84">  144</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#a6e82eaa51d7a49ce5f2ac7bed8b1be84">setIndices</a> (<span class="keyword">const</span> IndicesPtr &amp;indices)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">Base::setIndices</a> (indices);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        compute_done_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#acb2035721451625eb16df8887864c90e">  154</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#acb2035721451625eb16df8887864c90e">setIndices</a> (<span class="keyword">const</span> IndicesConstPtr &amp;indices)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">Base::setIndices</a> (indices);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        compute_done_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a71f16847e70728414581f5ca11bc9a0f">  164</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#a71f16847e70728414581f5ca11bc9a0f">setIndices</a> (<span class="keyword">const</span> PointIndicesConstPtr &amp;indices)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">Base::setIndices</a> (indices);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        compute_done_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a11e20c2e4a123230ab4796f6fda74289">  179</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#a11e20c2e4a123230ab4796f6fda74289">setIndices</a> (<span class="keywordtype">size_t</span> row_start, <span class="keywordtype">size_t</span> col_start, <span class="keywordtype">size_t</span> nb_rows, <span class="keywordtype">size_t</span> nb_cols)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">Base::setIndices</a> (row_start, col_start, nb_rows, nb_cols);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        compute_done_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keyword">inline</span> Eigen::Vector4f&amp; </div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a1871f8848d52dacaa870223664c0219f">  189</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#a1871f8848d52dacaa870223664c0219f">getMean</a> () </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordflow">if</span> (!compute_done_)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          initCompute ();</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordflow">if</span> (!compute_done_)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_init_failed_exception.html">InitFailedException</a>, </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                               <span class="stringliteral">&quot;[pcl::PCA::getMean] PCA initCompute failed&quot;</span>);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordflow">return</span> (mean_);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">inline</span> Eigen::Matrix3f&amp; </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#ad77043ebdf4629fae8b280c7c4840519">  203</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#ad77043ebdf4629fae8b280c7c4840519">getEigenVectors</a> () </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="keywordflow">if</span> (!compute_done_)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          initCompute ();</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordflow">if</span> (!compute_done_)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_init_failed_exception.html">InitFailedException</a>, </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                               <span class="stringliteral">&quot;[pcl::PCA::getEigenVectors] PCA initCompute failed&quot;</span>);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordflow">return</span> (eigenvectors_);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f&amp; </div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a30259b4feb05d2572be2686b05c733df">  217</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#a30259b4feb05d2572be2686b05c733df">getEigenValues</a> ()</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordflow">if</span> (!compute_done_)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          initCompute ();</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordflow">if</span> (!compute_done_)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_init_failed_exception.html">InitFailedException</a>, </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                               <span class="stringliteral">&quot;[pcl::PCA::getEigenVectors] PCA getEigenValues failed&quot;</span>);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keywordflow">return</span> (eigenvalues_);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keyword">inline</span> Eigen::MatrixXf&amp; </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#ab11ef9e3f214f7a5decf44f67fb8e127">  231</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#ab11ef9e3f214f7a5decf44f67fb8e127">getCoefficients</a> () </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <span class="keywordflow">if</span> (!compute_done_)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          initCompute ();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keywordflow">if</span> (!compute_done_)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_init_failed_exception.html">InitFailedException</a>, </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                               <span class="stringliteral">&quot;[pcl::PCA::getEigenVectors] PCA getCoefficients failed&quot;</span>);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordflow">return</span> (coefficients_);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#a37bab033d160cd2bb6f884b6970ba6b8">update</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; input, <a class="code" href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66c">FLAG</a> flag = <a class="code" href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66ca1e6a3535f703ae9d2b1e689c290acd38">preserve</a>);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#a2d9b2c0c5ae7555552c48465134cfcb3">project</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; input, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; projection);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#a2d9b2c0c5ae7555552c48465134cfcb3">project</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; input, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; projection);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#af478ebeb7cd64e513fd0168d583186c3">reconstruct</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; projection, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; input);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <a class="code" href="classpcl_1_1_p_c_a.html#af478ebeb7cd64e513fd0168d583186c3">reconstruct</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; projection, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; input);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      initCompute ();</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordtype">bool</span> compute_done_;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keywordtype">bool</span> basis_only_;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      Eigen::Matrix3f eigenvectors_;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      Eigen::MatrixXf coefficients_;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      Eigen::Vector4f mean_;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      Eigen::Vector3f eigenvalues_;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  }; <span class="comment">// class PCA</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/pca.hpp&gt;</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_PCA_H</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_init_failed_exception_html"><div class="ttname"><a href="classpcl_1_1_init_failed_exception.html">pcl::InitFailedException</a></div><div class="ttdoc">An exception thrown when init can not be performed should be used in all the PCLBase class inheritant...</div><div class="ttdef"><b>Definition:</b> exceptions.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html"><div class="ttname"><a href="classpcl_1_1_p_c_a.html">pcl::PCA</a></div><div class="ttdef"><b>Definition:</b> pca.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a11e20c2e4a123230ab4796f6fda74289"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a11e20c2e4a123230ab4796f6fda74289">pcl::PCA::setIndices</a></div><div class="ttdeci">virtual void setIndices(size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</div><div class="ttdoc">Set the indices for the points laying within an interest region of the point cloud.</div><div class="ttdef"><b>Definition:</b> pca.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a1871f8848d52dacaa870223664c0219f"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a1871f8848d52dacaa870223664c0219f">pcl::PCA::getMean</a></div><div class="ttdeci">Eigen::Vector4f &amp; getMean()</div><div class="ttdoc">Mean accessor</div><div class="ttdef"><b>Definition:</b> pca.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a1bd3197d4c429c7cba4adea98602c66c"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66c">pcl::PCA::FLAG</a></div><div class="ttdeci">FLAG</div><div class="ttdef"><b>Definition:</b> pca.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a1bd3197d4c429c7cba4adea98602c66ca1e6a3535f703ae9d2b1e689c290acd38"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66ca1e6a3535f703ae9d2b1e689c290acd38">pcl::PCA::preserve</a></div><div class="ttdeci">@ preserve</div><div class="ttdef"><b>Definition:</b> pca.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a1bd3197d4c429c7cba4adea98602c66ca8cd62ecad342aa4f3b6c52e8cf008bed"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a1bd3197d4c429c7cba4adea98602c66ca8cd62ecad342aa4f3b6c52e8cf008bed">pcl::PCA::increase</a></div><div class="ttdeci">@ increase</div><div class="ttdef"><b>Definition:</b> pca.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a2d9b2c0c5ae7555552c48465134cfcb3"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a2d9b2c0c5ae7555552c48465134cfcb3">pcl::PCA::project</a></div><div class="ttdeci">void project(const PointT &amp;input, PointT &amp;projection)</div><div class="ttdef"><b>Definition:</b> pca.hpp:175</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a2f56db5cbe6cc785fbad9ddff3703312"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a2f56db5cbe6cc785fbad9ddff3703312">pcl::PCA::operator=</a></div><div class="ttdeci">PCA &amp; operator=(PCA const &amp;pca)</div><div class="ttdef"><b>Definition:</b> pca.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a30259b4feb05d2572be2686b05c733df"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a30259b4feb05d2572be2686b05c733df">pcl::PCA::getEigenValues</a></div><div class="ttdeci">Eigen::Vector3f &amp; getEigenValues()</div><div class="ttdef"><b>Definition:</b> pca.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a37bab033d160cd2bb6f884b6970ba6b8"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a37bab033d160cd2bb6f884b6970ba6b8">pcl::PCA::update</a></div><div class="ttdeci">void update(const PointT &amp;input, FLAG flag=preserve)</div><div class="ttdef"><b>Definition:</b> pca.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a6e82eaa51d7a49ce5f2ac7bed8b1be84"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a6e82eaa51d7a49ce5f2ac7bed8b1be84">pcl::PCA::setIndices</a></div><div class="ttdeci">virtual void setIndices(const IndicesPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div><div class="ttdef"><b>Definition:</b> pca.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_a71f16847e70728414581f5ca11bc9a0f"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#a71f16847e70728414581f5ca11bc9a0f">pcl::PCA::setIndices</a></div><div class="ttdeci">virtual void setIndices(const PointIndicesConstPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div><div class="ttdef"><b>Definition:</b> pca.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_ab11ef9e3f214f7a5decf44f67fb8e127"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#ab11ef9e3f214f7a5decf44f67fb8e127">pcl::PCA::getCoefficients</a></div><div class="ttdeci">Eigen::MatrixXf &amp; getCoefficients()</div><div class="ttdef"><b>Definition:</b> pca.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_ab56671f77a7391de05435bb7a39c9458"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#ab56671f77a7391de05435bb7a39c9458">pcl::PCA::PCA</a></div><div class="ttdeci">PCA(bool basis_only=false)</div><div class="ttdoc">Default Constructor</div><div class="ttdef"><b>Definition:</b> pca.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_aca4254c3969ff8cd2213d90cf30e95b3"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#aca4254c3969ff8cd2213d90cf30e95b3">pcl::PCA::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pca.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_acb2035721451625eb16df8887864c90e"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#acb2035721451625eb16df8887864c90e">pcl::PCA::setIndices</a></div><div class="ttdeci">virtual void setIndices(const IndicesConstPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div><div class="ttdef"><b>Definition:</b> pca.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_ad77043ebdf4629fae8b280c7c4840519"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#ad77043ebdf4629fae8b280c7c4840519">pcl::PCA::getEigenVectors</a></div><div class="ttdeci">Eigen::Matrix3f &amp; getEigenVectors()</div><div class="ttdef"><b>Definition:</b> pca.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_a_html_af478ebeb7cd64e513fd0168d583186c3"><div class="ttname"><a href="classpcl_1_1_p_c_a.html#af478ebeb7cd64e513fd0168d583186c3">pcl::PCA::reconstruct</a></div><div class="ttdeci">void reconstruct(const PointT &amp;projection, PointT &amp;input)</div><div class="ttdef"><b>Definition:</b> pca.hpp:217</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_ab219359de6eb34c9d51e2e976dd1a0d1"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">pcl::PCLBase::setIndices</a></div><div class="ttdeci">virtual void setIndices(const IndicesPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_acceb20854934f4cf77e266eb5a44d4f0"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">pcl::PCLBase::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:139</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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